“…UAV subsystem agent sort and layer are different, the concerted action between them need to be analyzed based on different layer and grade, as to different grade agent, when superior agent concerted with inferior agent, it adopts command, the inferior agent must perform the order by superior agent, then return the executive result to the superior agent; it adopts advice between the same level agent, the other side can evaluate this advice, then it can accept or refuse this advice based on actual status [8]. UAV flight simulation system based on multi-agent which can be divided into some autonomic agent, each subsystem have relative independence, when it perform local simulations, it may bring the confliction, so it should correspond with the decision-making of each agent and avoid conflicts, and make each unattached agent toward the same direction, then it will accomplish the holistic function of flight simulation system [9][10][11][12][13][14][15].…”